Title :
A sliding mode control applied to whirling pendulum
Author :
Mahjoub, Sonia ; Mnif, Faical ; Derbel, Nabil
Abstract :
In this paper, we present a VSS-based tracking control for a fixed point regulation of 2-DOF underactuated manipulators. The design approach is systematic and relies on the selection of appropriate choice of two sliding surface. The controller is designed for the both sliding surfaces are attractive. Lyapunov theory is used to study and demonstrate the stability of the system. Convergence of state space is proved and robustness issues to bounded disturbances are also investigated. Simulation results on 2-DOF whirling pendulum are presented to chow the effectiveness of this approach.
Keywords :
Lyapunov methods; control system synthesis; manipulators; stability; variable structure systems; 2-DOF underactuated manipulators; Lyapunov theory; fixed point regulation; sliding mode control; state space convergence; whirling pendulum; Actuators; Control systems; Design optimization; Intelligent control; Linear feedback control systems; Manipulators; Mechanical systems; Robust control; Sliding mode control; Torque control; VSS; sliding mode; underactuated manipulator; whirling pendulum;
Conference_Titel :
Signals, Circuits and Systems, 2008. SCS 2008. 2nd International Conference on
Conference_Location :
Monastir
Print_ISBN :
978-1-4244-2627-0
Electronic_ISBN :
978-1-4244-2628-7
DOI :
10.1109/ICSCS.2008.4746910
